#ifndef __IMU_H
#define	__IMU_H

#include <stdint.h>
//
//typedef unsigned char uint8_t; 
//typedef unsigned short uint16_t; 
//typedef unsigned int uint32_t ;

typedef void (*imu_delay)(uint32_t t);
typedef uint8_t (*imu_id)(void);

struct imu_param {
	imu_delay delay;
	imu_id id;
};


int IMU_init(struct imu_param * p);
void IMU_update(short acc[3], short gyro[3], float dt, float euler_angle[3]);

int IMU1_init(struct imu_param * p);
void IMU1_update(short acc[3], short gyro[3], float dt, float euler_angle[3]);

#endif /* __IMU_H */
